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Take T_cn_cnm1 instead of cam1/T_cam_imu from the calibration file

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ke
2018-01-12 13:21:23 -05:00
parent 365c45c46f
commit 050c50defa
3 changed files with 13 additions and 11 deletions
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3
src/image_processor.cpp
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@ -93,7 +93,8 @@ bool ImageProcessor::loadParameters() {
R_cam0_imu = R_imu_cam0.t();
t_cam0_imu = -R_imu_cam0.t() * t_imu_cam0;
cv::Mat T_imu_cam1 = utils::getTransformCV(nh, "cam1/T_cam_imu");
cv::Mat T_cam0_cam1 = utils::getTransformCV(nh, "cam1/T_cn_cnm1");
cv::Mat T_imu_cam1 = T_cam0_cam1 * T_imu_cam0;
cv::Matx33d R_imu_cam1(T_imu_cam1(cv::Rect(0,0,3,3)));
cv::Vec3d t_imu_cam1 = T_imu_cam1(cv::Rect(3,0,1,3));
R_cam1_imu = R_imu_cam1.t();